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11. 发明授权

US09492237B2 Method and apparatus for controlling a haptic device 有权
标题翻译：用于控制触觉装置的方法和装置
公开(公告)号：US09492237B2
公开(公告)日：2016-11-15
申请号：US11750815
申请日：2007-05-18
申请人： Hyosig Kang , Dennis Moses , Arthur Quaid
发明人： Hyosig Kang , Dennis Moses , Arthur Quaid
IPC分类号： G01C9/00 , G01C17/00 , G01C19/00 , A61B19/00 , A61B17/17 , A61B17/00
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method for calibrating a surgical device is provided. The method includes acquiring first data including a position and/or an orientation of a first object disposed on the surgical device at a first location; acquiring second data including a position and/or an orientation of a second object disposed on the surgical device at a second location; determining third data including a position and/or an orientation of the first object relative to the second location; and determining a position and/or an orientation of the second object relative to the second location based at least in part on the first data, the second data, and the third data.
摘要翻译：提供了一种用于校准外科装置的方法。该方法包括在第一位置获取包括设置在手术装置上的第一物体的位置和/或取向的第一数据; 在第二位置处获取包括设置在所述外科手术装置上的第二物体的位置和/或取向的第二数据; 确定包括所述第一对象相对于所述第二位置的位置和/或取向的第三数据; 以及至少部分地基于所述第一数据，所述第二数据和所述第三数据来确定所述第二对象相对于所述第二位置的位置和/或取向。

12. 发明申请

US20120109150A1 HAPTIC GUIDANCE SYSTEM AND METHOD 有权
标题翻译：习惯指导系统和方法
公开(公告)号：US20120109150A1
公开(公告)日：2012-05-03
申请号：US13195733
申请日：2011-08-01
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses , Rony Abovitz , Maurice R. Ferre , Binyamin Hajaj , Martin Roche , Scott Illsley , Louis Arata , Dana Mears , Timothy Blackwell , Alon Mozes , Sherif Aly , Amardeep Singh Dugal , Randall Hand , Sandi Glauser , Juan Salcedo , Peter Ebbitt , William Tapia
IPC分类号： A61B19/00
CPC分类号： A61B34/30 , A61B5/1127 , A61B5/745 , A61B17/1675 , A61B17/1677 , A61B17/1695 , A61B17/17 , A61B17/1703 , A61B17/1739 , A61B17/1764 , A61B17/1767 , A61B34/10 , A61B34/20 , A61B34/25 , A61B34/35 , A61B34/37 , A61B34/70 , A61B34/71 , A61B34/74 , A61B34/76 , A61B90/14 , A61B90/36 , A61B90/361 , A61B90/37 , A61B2017/00115 , A61B2017/00119 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/108 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2068 , A61B2034/207 , A61B2034/252 , A61B2034/254 , A61B2034/305 , A61B2090/08021 , A61B2090/365 , A61B2090/3937 , A61B2090/3983 , A61F2/30942 , A61F2/38 , A61F2002/4632 , A61F2002/4633 , A61N1/0534 , A61N1/3605 , A61N1/372 , G05B2219/36432 , G05B2219/39196 , G05B2219/40478 , G05B2219/45117 , G05B2219/45171 , G06F3/016 , G06F19/00
摘要： A surgical apparatus includes a surgical device, configured to be manipulated by a user to perform a procedure on a patient, and a computer system. The computer system is programmed to implement control parameters for controlling the surgical device to provide at least one of haptic guidance to the user and a limit on user manipulation of the surgical device, based on a relationship between an anatomy of the patient and at least one of a position, an orientation, a velocity, and an acceleration of a portion of the surgical device, and to adjust the control parameters in response to movement of the anatomy during the procedure.
摘要翻译：手术装置包括外科装置，其被配置为由用户操纵以对患者执行手术，以及计算机系统。计算机系统被编程为实现用于控制外科手术装置的控制参数，以基于患者的解剖结构与至少一个之间的关系来提供对使用者的触觉指导和对手术装置的用户操纵的限制中的至少一个手术装置的一部分的位置，方向，速度和加速度，以及响应于手术期间解剖结构的移动来调整控制参数。

13. 发明申请

US20080010705A1 METHOD AND APPARATUS FOR CONTROLLING A HAPTIC DEVICE 有权
标题翻译：用于控制一个设备的方法和装置
公开(公告)号：US20080010705A1
公开(公告)日：2008-01-10
申请号：US11750840
申请日：2007-05-18
申请人： Arthur Quaid , Hyosig Kang , Dennis Moses
发明人： Arthur Quaid , Hyosig Kang , Dennis Moses
IPC分类号： A61B5/05 , A61B19/00
CPC分类号： A61B34/20 , A61B17/1764 , A61B34/10 , A61B34/25 , A61B34/30 , A61B34/71 , A61B34/76 , A61B90/03 , A61B2017/00119 , A61B2017/00694 , A61B2017/00712 , A61B2017/00725 , A61B2034/102 , A61B2034/107 , A61B2034/108 , A61B2034/2055 , A61B2034/2059 , A61B2034/2065 , A61B2034/2068 , A61B2034/207 , A61B2034/2072 , A61B2034/305 , A61B2090/363 , A61B2090/364 , A61B2090/3983
摘要： A method of compensating for motion of objects during a surgical procedure is provided. The method includes determining a pose of an anatomy of a patient; determining a pose of a surgical tool of a surgical device; defining a relationship between the pose of the anatomy and a position, an orientation, a velocity, and/or an acceleration of the surgical tool; associating the pose of the anatomy, the pose of the surgical tool, and the relationship; and updating the association in response to a motion of the anatomy and/or a motion of the surgical tool without interrupting operation of the surgical device during the surgical procedure.
摘要翻译：提供了一种补偿外科手术过程中物体运动的方法。该方法包括确定患者的解剖结构的姿势; 确定手术装置的手术工具的姿势; 定义所述解剖结构的姿态与所述外科手术工具的位置，方位，速度和/或加速度之间的关系; 将解剖结构的姿态，手术工具的姿势与关系联系起来; 以及响应于所述解剖结构的运动和/或所述手术工具的运动而更新所述关联，而不会在所述外科手术期间中断所述外科手术装置的操作。

14. 发明授权

US08464603B2 Parallelogram based actuating device 有权
标题翻译：基于平行四边形的致动装置
公开(公告)号：US08464603B2
公开(公告)日：2013-06-18
申请号：US13236245
申请日：2011-09-19
申请人： Arthur Quaid
发明人： Arthur Quaid
IPC分类号： B25J17/00 , B25J17/02 , B25J18/00
CPC分类号： F16H21/44 , Y10T74/18768 , Y10T74/188 , Y10T74/18808 , Y10T74/18816 , Y10T74/18832 , Y10T74/18856 , Y10T74/20317 , Y10T74/20329
摘要： An actuating device includes a base link, a first link, a second link, a translating link, a shaft, and a drive. The base link includes a base plate, a first joint, and a second joint. The base plate extends between the first joint and the second joint. The first link is mounted to the first joint to allow rotation of the first link relative to the base plate at the first joint. The second link is mounted to the second joint to allow rotation of the second link relative to the base plate at the second joint. The drive includes an arc surface and is mounted to the translating link such that, when operating the actuating device, a position of the arc surface is fixed relative to the translating plate. The shaft is mounted to the arc surface to cause translation of the translating link as the shaft rotates.
摘要翻译：致动装置包括基座连杆，第一连杆，第二连杆，平移连杆，轴和驱动器。基座连杆包括基板，第一接头和第二接头。基板在第一接头和第二接头之间延伸。第一连杆安装到第一接头以允许第一连杆相对于第一接头处的基板旋转。第二连杆安装到第二接头以允许第二连杆相对于基板在第二接头处的旋转。驱动器包括弧形表面并且安装到平移连杆，使得当操作致动装置时，弧形表面的位置相对于平移板固定。轴安装到弧形表面，以在轴旋转时使平移连杆平移。

15. 发明申请

US20060058616A1 Interactive computer-assisted surgery system and method 有权
标题翻译：交互式电脑辅助手术系统及方法
公开(公告)号：US20060058616A1
公开(公告)日：2006-03-16
申请号：US11199559
申请日：2005-08-08
申请人： Joel Marquart , Randall Hand , Arthur Quaid , Louis Arata , Rony Abovitz , Marwan Sati
发明人： Joel Marquart , Randall Hand , Arthur Quaid , Louis Arata , Rony Abovitz , Marwan Sati
IPC分类号： A61B5/05
CPC分类号： A61B34/20 , A61B17/1757 , A61B34/10 , A61B34/25 , A61B90/90 , A61B90/94 , A61B2017/00199 , A61B2017/00207 , A61B2017/00725 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2055 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2034/256 , G06F19/00
摘要： A system and method for providing computer assistance for performing a medical procedure provides a graphical user interface to guide and/or assist a user, for example a surgeon, performing the medical procedure, whether surgical or non-surgical. The computer-assisted system comprises a software application that may be used for a medical procedure.
摘要翻译：用于提供用于执行医疗程序的计算机辅助的系统和方法提供图形用户界面以引导和/或辅助用户，例如外科医生，执行医疗程序，无论是手术还是非外科手术。计算机辅助系统包括可用于医疗程序的软件应用程序。

16. 发明申请

US20050267722A1 Computer-assisted external fixation apparatus and method 审中-公开
标题翻译：计算机辅助外固定装置及方法
公开(公告)号：US20050267722A1
公开(公告)日：2005-12-01
申请号：US11007647
申请日：2004-12-06
申请人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Scott Illsley
发明人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Scott Illsley
IPC分类号： A61B5/05 , A61B5/103 , A61B5/11 , A61B17/60 , A61B17/88 , A61B19/00 , G06G7/48
CPC分类号： A61B5/4528 , A61B5/1071 , A61B5/11 , A61B5/1114 , A61B5/1127 , A61B5/7435 , A61B5/745 , A61B5/7475 , A61B17/60 , A61B34/10 , A61B34/20 , A61B34/25 , A61B2017/00207 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2034/256
摘要： A computer-assisted external fixation apparatus and method comprises an external fixation application for assisting, guiding, and planning an external fixation procedure. The external fixation application cooperates with a tracking system to acquire kinematic data corresponding to a selected joint during manipulation of the selected joint and/or acquire image data of patient anatomy and determine a kinematic parameter for the selected joint using the kinematic and/or image data, such as an axis of rotation or plane of movement. The external fixation application may then be used with the tracking system to provide real-time alignment information for alignment of an external fixator based on the information associated with the determined kinematic parameter.
摘要翻译：计算机辅助外部固定装置和方法包括用于辅助，指导和规划外部固定程序的外部固定应用。外部固定应用程序与跟踪系统协作以在操纵所选择的关节期间采集对应于选定关节的运动学数据和/或获取患者解剖结构的图像数据，并使用运动学和/或图像数据确定所选关节的运动学参数，例如旋转轴或运动平面。然后可以将外部固定应用与跟踪系统一起使用，以提供用于基于与所确定的运动学参数相关联的信息来定位外部固定器的实时对准信息。

17. 发明申请

US20060173293A1 Method and apparatus for computer assistance with intramedullary nail procedure 审中-公开
标题翻译：用于髓内钉手术的计算机辅助的方法和装置
公开(公告)号：US20060173293A1
公开(公告)日：2006-08-03
申请号：US11201741
申请日：2005-08-11
申请人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , David Dybala , Robert Brumback , Ryan Schoenefeld
发明人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , David Dybala , Robert Brumback , Ryan Schoenefeld
IPC分类号： A61B5/05
CPC分类号： A61B90/36 , A61B90/10 , A61B2017/00207 , A61B2090/376
摘要： A specially-programmed, computer-assisted surgery system is used to reduce the number of fluoroscopic images required to be taken during the course of a intramedullary nail procedure, eliminates the need for a Steinman pin, and assists the surgeon in properly aligning and securing the nail during insertion.
摘要翻译：使用专门编程的计算机辅助手术系统来减少在髓内钉手术过程中需要采集的荧光镜图像的数量，不需要Steinman针脚，并协助外科医生正确对准和固定钉子插入时。

18. 发明申请

US20050267354A1 System and method for providing computer assistance with spinal fixation procedures 审中-公开
标题翻译：用于提供脊柱固定程序的计算机辅助的系统和方法
公开(公告)号：US20050267354A1
公开(公告)日：2005-12-01
申请号：US11006503
申请日：2004-12-06
申请人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Richard Dickerson
发明人： Joel Marquart , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Richard Dickerson
IPC分类号： A61B5/05 , A61B17/16 , A61B19/00 , G06G7/48
CPC分类号： A61B90/36 , A61B17/1671 , A61B34/10 , A61B2017/00207
摘要： A system and method for providing computer assistance for performing a medical procedure, for example spinal fixation, provides a graphical user interface to guide and/or assist a user, for example a surgeon, performing the medical procedure, whether surgical or non-surgical. The computer-assisted system comprises a software application, for example a spinal fixation application, that may be used for a medical procedure, for example spine linking, etc.
摘要翻译：用于提供用于执行医疗程序（例如脊柱固定）的计算机辅助的系统和方法提供图形用户界面以引导和/或辅助用户，例如外科医生，执行医疗程序，无论是手术还是非外科手术。计算机辅助系统包括可用于医疗程序（例如脊柱连接等）的软件应用程序，例如脊柱固定应用程序。

19. 发明申请

US20050267353A1 Computer-assisted knee replacement apparatus and method 审中-公开
标题翻译：计算机辅助膝关节置换装置及方法
公开(公告)号：US20050267353A1
公开(公告)日：2005-12-01
申请号：US11006494
申请日：2004-12-06
申请人： Joel Marquart , Scott Illsley , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Oleg Gerovich , James McKale
发明人： Joel Marquart , Scott Illsley , Louis Arata , Randall Hand , Arthur Quaid , Rony Abovitz , Oleg Gerovich , James McKale
IPC分类号： A61B5/05 , A61B17/15 , A61B19/00 , A61F2/38 , A61F2/46
CPC分类号： A61B17/154 , A61B34/10 , A61B34/20 , A61B34/25 , A61B90/36 , A61B2017/00207 , A61B2034/102 , A61B2034/105 , A61B2034/107 , A61B2034/2072 , A61B2034/252 , A61B2034/254 , A61B2034/256 , A61F2/38 , A61F2002/4658
摘要： A computer-assisted knee replacement apparatus and method comprises a total knee replacement application for assisting, guiding, and planning a total knee replacement procedure. The apparatus and method cooperates with a tracking system to determine implant sizing and location. The apparatus and method also cooperates with the tracking system to determine required tibial and femoral preparation corresponding to the implant size and location and provides real-time monitoring of the tibial and femoral surface preparation procedures.
摘要翻译：计算机辅助膝关节置换装置和方法包括全膝关节置换应用，用于辅助，指导和规划全膝关节置换手术。该装置和方法与跟踪系统协调以确定植入物尺寸和位置。该装置和方法还与跟踪系统配合以确定对应于植入物尺寸和位置的所需胫骨和股骨准备，并提供胫骨和股骨表面准备程序的实时监测。

20. 发明申请

US20130068054A1 PARALLELOGRAM BASED ACTUATING DEVICE 有权
标题翻译：基于并联激励器件
公开(公告)号：US20130068054A1
公开(公告)日：2013-03-21
申请号：US13236245
申请日：2011-09-19
申请人： Arthur Quaid
发明人： Arthur Quaid
IPC分类号： F16H21/44
CPC分类号： F16H21/44 , Y10T74/18768 , Y10T74/188 , Y10T74/18808 , Y10T74/18816 , Y10T74/18832 , Y10T74/18856 , Y10T74/20317 , Y10T74/20329
摘要： An actuating device includes a base link, a first link, a second link, a translating link, a shaft, and a drive. The base link includes a base plate, a first joint, and a second joint. The base plate extends between the first joint and the second joint. The first link is mounted to the first joint to allow rotation of the first link relative to the base plate at the first joint. The second link is mounted to the second joint to allow rotation of the second link relative to the base plate at the second joint. The drive includes an arc surface and is mounted to the translating link such that, when operating the actuating device, a position of the arc surface is fixed relative to the translating plate. The shaft is mounted to the arc surface to cause translation of the translating link as the shaft rotates.
摘要翻译：致动装置包括基座连杆，第一连杆，第二连杆，平移连杆，轴和驱动器。基座连杆包括基板，第一接头和第二接头。基板在第一接头和第二接头之间延伸。第一连杆安装到第一接头以允许第一连杆相对于第一接头处的基板旋转。第二连杆安装到第二接头以允许第二连杆相对于基板在第二接头处的旋转。驱动器包括弧形表面并且安装到平移连杆，使得当操作致动装置时，弧形表面的位置相对于平移板固定。轴安装到弧形表面，以在轴旋转时使平移连杆平移。

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